Internal cleanup (#1045)

Clean up the lint errors.

cartographer/io/internal/in_memory_proto_stream.h

@@ -52,7 +52,7 @@ class InMemoryProtoStreamReader
  public:
   explicit InMemoryProtoStreamReader(
       std::queue<std::unique_ptr<google::protobuf::Message>>&& state_chunks)
-      : state_chunks_(std::move(state_chunks)){};
+      : state_chunks_(std::move(state_chunks)) {}
   InMemoryProtoStreamReader() = default;
   ~InMemoryProtoStreamReader() = default;
 

cartographer/io/probability_grid_points_processor.cc

@@ -142,7 +142,6 @@ std::unique_ptr<Image> DrawProbabilityGrid(
         probability_grid.IsKnown(index)
             ? ProbabilityToColor(probability_grid.GetProbability(index))
             : kUnknownValue;
-    ;
     image->SetPixel(xy_index.x(), xy_index.y(), {{value, value, value}});
   }
   return image;

cartographer/io/proto_stream_interface.h

@@ -26,7 +26,7 @@ namespace io {
 // A writer for writing proto messages to a pbstream.
 class ProtoStreamWriterInterface {
  public:
-  virtual ~ProtoStreamWriterInterface(){};
+  virtual ~ProtoStreamWriterInterface() {}
 
   // Serializes, compressed and writes the 'proto' to the file.
   virtual void WriteProto(const google::protobuf::Message& proto) = 0;
@@ -39,7 +39,7 @@ class ProtoStreamWriterInterface {
 class ProtoStreamReaderInterface {
  public:
   ProtoStreamReaderInterface() = default;
-  virtual ~ProtoStreamReaderInterface(){};
+  virtual ~ProtoStreamReaderInterface() {}
 
   // Deserialize compressed proto from the pb stream.
   virtual bool ReadProto(google::protobuf::Message* proto) = 0;

cartographer/mapping/internal/2d/pose_graph_2d.h

@@ -284,7 +284,7 @@ class PoseGraph2D : public PoseGraph {
     std::vector<PoseGraphInterface::Constraint> GetConstraints() const override;
     void MarkSubmapAsTrimmed(const SubmapId& submap_id)
         REQUIRES(parent_->mutex_) override;
-    bool IsFinished(int trajectory_id) const override REQUIRES(parent_->mutex);
+    bool IsFinished(int trajectory_id) const override REQUIRES(parent_->mutex_);
 
    private:
     PoseGraph2D* const parent_;

cartographer/mapping/internal/2d/scan_matching/fast_correlative_scan_matcher_2d.cc

@@ -69,7 +69,7 @@ class SlidingWindowMaximum {
 
  private:
   // Maximum of the current sliding window at the front. Then the maximum of the
-  // remaining window that came after this values first occurence, and so on.
+  // remaining window that came after this values first occurrence, and so on.
   std::deque<float> non_ascending_maxima_;
 };
 

cartographer/mapping/internal/2d/scan_matching/occupied_space_cost_function_2d.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_OCCUPIED_SPACE_COST_FUNCTION_H_
+#ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_OCCUPIED_SPACE_COST_FUNCTION_2D_H_
-#define CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_OCCUPIED_SPACE_COST_FUNCTION_H_
+#define CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_OCCUPIED_SPACE_COST_FUNCTION_2D_H_
 
 #include "Eigen/Core"
 #include "Eigen/Geometry"
@@ -126,4 +126,4 @@ class OccupiedSpaceCostFunction2D {
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_OCCUPIED_SPACE_COST_FUNCTION_H_
+#endif  // CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_OCCUPIED_SPACE_COST_FUNCTION_2D_H_

cartographer/mapping/internal/3d/pose_graph_3d.h

@@ -158,7 +158,8 @@ class PoseGraph3D : public PoseGraph {
     SubmapState state = SubmapState::kActive;
   };
 
-  MapById<SubmapId, PoseGraphInterface::SubmapData> GetSubmapDataUnderLock();
+  MapById<SubmapId, PoseGraphInterface::SubmapData> GetSubmapDataUnderLock()
+      REQUIRES(mutex_);
 
   // Handles a new work item.
   void AddWorkItem(const std::function<void()>& work_item) REQUIRES(mutex_);
@@ -284,9 +285,11 @@ class PoseGraph3D : public PoseGraph {
     int num_submaps(int trajectory_id) const override;
     std::vector<SubmapId> GetSubmapIds(int trajectory_id) const override;
     MapById<SubmapId, PoseGraphInterface::SubmapData> GetAllSubmapData()
-        const override;
+        const override REQUIRES(parent_->mutex_);
-    MapById<NodeId, TrajectoryNode> GetTrajectoryNodes() const override;
+    MapById<NodeId, TrajectoryNode> GetTrajectoryNodes() const override
-    std::vector<PoseGraphInterface::Constraint> GetConstraints() const override;
+        REQUIRES(parent_->mutex_);
+    std::vector<PoseGraphInterface::Constraint> GetConstraints() const override
+        REQUIRES(parent_->mutex_);
     void MarkSubmapAsTrimmed(const SubmapId& submap_id)
         REQUIRES(parent_->mutex_) override;
     bool IsFinished(int trajectory_id) const override REQUIRES(parent_->mutex_);

cartographer/mapping/internal/range_data_collator.cc

@@ -28,7 +28,7 @@ namespace mapping {
 sensor::TimedPointCloudOriginData RangeDataCollator::AddRangeData(
     const std::string& sensor_id,
     const sensor::TimedPointCloudData& timed_point_cloud_data) {
-  CHECK(expected_sensor_ids_.count(sensor_id) != 0);
+  CHECK_NE(expected_sensor_ids_.count(sensor_id), 0);
   // TODO(gaschler): These two cases can probably be one.
   if (id_to_pending_data_.count(sensor_id) != 0) {
     current_start_ = current_end_;

cartographer/mapping/pose_graph.h

@@ -53,7 +53,7 @@ class PoseGraph : public PoseGraphInterface {
   };
 
   PoseGraph() {}
-  virtual ~PoseGraph() override {}
+  ~PoseGraph() override {}
 
   PoseGraph(const PoseGraph&) = delete;
   PoseGraph& operator=(const PoseGraph&) = delete;

cartographer/sensor/internal/trajectory_collator.cc

@@ -23,7 +23,7 @@ void TrajectoryCollator::AddTrajectory(
     const int trajectory_id,
     const std::unordered_set<std::string>& expected_sensor_ids,
     const Callback& callback) {
-  CHECK(trajectory_to_queue_.count(trajectory_id) == 0);
+  CHECK_EQ(trajectory_to_queue_.count(trajectory_id), 0);
   for (const auto& sensor_id : expected_sensor_ids) {
     const auto queue_key = QueueKey{trajectory_id, sensor_id};
     trajectory_to_queue_[trajectory_id].AddQueue(

cartographer/sensor/internal/voxel_filter.h

@@ -34,7 +34,7 @@ namespace sensor {
 class VoxelFilter {
  public:
   // 'size' is the length of a voxel edge.
-  explicit VoxelFilter(float size) : resolution_(size){};
+  explicit VoxelFilter(float size) : resolution_(size) {}
 
   VoxelFilter(const VoxelFilter&) = delete;
   VoxelFilter& operator=(const VoxelFilter&) = delete;